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Quick Startup Guide for SIMOVERT MASTERDRIVES 6SE70 MC Motion Control

Section 1: Section 2: Section 3:

Parameterization of Base Drive Servo Drive Tuning Procedure Technology Options Quick Setup Method

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We reserve the right to modify functions, technical data, standards, drawings and parameters.

We have checked the contents of this document to ensure that they coincide with the described hardware and software. However, deviations cannot be completely ruledout, so we cannot guarantee complete conformance. However, the information in this document is regularly checked and the necessary corrections will be included in subsequent editions. We are thankful for any recommendations or suggestions. e-mail: GMC@sea.siemens.com

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NOTE:
These instructions do not purport to cover all details or variations in equipment, nor to provide for every possible contingency to be met in connection with installation, operation or maintenance. Should further information be desired or should particular problems arise which are not covered sufficiently for the purchaser purposes, please s contact your local Siemens office. Further, the contents of these instructions shall neither become a part of nor modify any prior or existing agreement, commitment or relationship. The sales contract contains the entire obligation of Siemens Energy & Automation. The warranty contained in the contract between the parties is the sole warranty of Siemens Energy & Automation. Any statements contained herein do not create new warranties nor modify the existing warranty.

Note: This Quick Startup Guide is not an autonomous document, but is intended to direct users to the section in the Operating Instructions which are important for start-up. Thus, these brief instructions can only be completely valid when used in conjunction with the Operating Instructions. It is especially important to observe the warning and information regarding potential hazards in the Operating Instructions.

Warning: Electrical equipment has parts an components which are at hazardous voltage levels. If the warning information in the detailed Operating Instructions is not observed, this can result in severe bodily injury or material damage. Only appropriately qualified personnel may work with this equipment. These personnel must be knowledgeable with all of the warning information and service/maintenance measures of the Operating Instruction.

Perfect and safe operation of this equipment assumes professional transport, storage, erection and installation as well as careful operating control and service.

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Parameterization of Base Unit Section 1 Table of Contents:


1.1 Power Section Definition 1.2 Factory Reset 1.3 Drive Setting with Siemens Motor 1.4 Drive Control Word 1.5 Tuning Drive and Current Loop 1.6 Communication Board Configuration

Note:

Refer to Operating Instruction Manual for power and control connections.

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1.1 Power Section Definition


Note: Power Section is pre-defined at the factory. Power Section Definition is require if a new board CUMC board is put into the drive or boards are switched between units with different ratings. Drive should be defaulted and re-parameterized after Power Section Definition.

P060 = 8

Select Power Section Definition Menu Input Code for unit (MRPD, see List or Rating Plate)

P070 = ?

P060 = 1

Return to Parameter Menu

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Unit List
PWE: Parameter Value In[A]: Rated Output Current in Amps (P072) Frequency Converter Compact PLUS AC-AC type PWE 1 3 5 7 9 13 15 17 19 Order Number 6SE7011-5EP50 6SE7013-0EP50 6SE7015-0EP50 6SE7018-0EP50 6SE7021-0EP50 6SE7021-4EP50 6SE7022-1EP50 6SE7022-7EP50 6SE7023-4EP50 In[A] 1.5 3.0 5.0 8.0 10.0 14.0 20.5 27.0 34.0

Frequency Inverter Compact PLUS DC-AC type PWE 2 4 6 8 12 14 16 18 20 Order Number 6SE7012-0TP50 6SE7014-0TP50 6SE7016-0TP50 6SE7021-0TP50 6SE7021-3TP50 6SE7021-8TP50 6SE7022-6TP50 6SE7023-4TP50 6SE7023-8TP50 In[A] 2.0 4.0 6.1 10.2 13.2 17.5 25.5 34.0 37.5

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Frequency Inverter Construction Type: PWE 4 10 12 19 26 36 43 47 53 57 67

Compact DC-AC Order Number 6SE7016-1TA51 6SE7018-0TA51 6SE7021-0TA51 6SE7021-3TB51 6SE7021-8TB51 6SE7022-6TC51 6SE7023-4TC51 6SE7023-8TD51 6SE7024-7TD51 6SE7026-0TD51 6SE7027-2TD51 In[A] 6.1 8.0 10.2 13.2 17.5 25.5 34.0 37.5 47.0 59.0 72.0

Frequency Converter Construction Type: Compact AC-AC PWE 3 9 11 18 25 35 42 46 52 56 66 Order Number 6SE7016-1EA51 6SE7018-0EA51 6SE7021-0EA51 6SE7021-3EB51 6SE7021-8EB51 6SE7022-6EC51 6SE7023-4EC51 6SE7023-8ED51 6SE7024-7ED51 6SE7026-0ED51 6SE7027-2ED51 In[A] 6.1 8.0 10.2 13.2 17.5 25.5 34.0 37.5 47.0 59.0 72.0

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Frequency Inverter Construction Type: PWE 75 83 91 99 103 109 113 117 120

Chassis Unit DC-AC Order Number 6SE7031-0TE50 6SE7031-2TF50 6SE7031-5TF50 6SE7031-8TF50 6SE7032-1TG50 6SE7032-6TG50 6SE7033-2TG50 6SE7033-7TH50 6SE7035-1TJ50 In[A] 92.0 124.0 146.0 186.0* 155.0* 210.0* 175.0* 260.0* 218.0* 315.0* 262.0* 370.0* 308.0* 510.0* 423.0*
1 1 1 1 1 1

2 2 2 2 2 2

Frequency Converter Construction Type: Chassis Unit AC-AC PWE 74 82 90 98 102 108 112 116 147 * *
1 2

Order Number 6SE7031-0EE50 6SE7031-2EF50 6SE7031-5EF50 6SE7031-8EF50 6SE7032-1EG50 6SE7032-6EG50 6SE7033-2EG50 6SE7033-7EH50 6SE7035-1EK50

In[A] 92.0 124.0 146.0 186.0* 155.0* 210.0* 175.0* 260.0* 218.0* 315.0* 262.0* 370.0* 308.0* 510.0* 423.0*
1 1 1 1 1 1

2 2 2 2 2 2

Theoretical rated output current at 3 kHz Pulse Frequency Rated output current at 5 kHz Pulse Frequency; the permissible rated output current will be reduced further at higher pulse frequencies

Note: P67 (cooling option; 0=air, 1=water). For certain applications, water cooled units can be used without current derating and the parameter P67 can be set to (contact your Application Engineer for further information). 1

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1.2 Factory Reset

P053 = 6

6: Parameter Changes permitted via PMU and Serial Interface (OP1 and PC) 2: Menu Select = Fixed Settings

P060 = 2

P366 = 0

Select Factory Setting 0: Standard 1: Standard with OP1 Control 2: Cabinet Unit with Terminal Strip Control 3: Cabinet Unit with OP1 Control Start Parameter Reset 0: Parameter Reset 1: No Parameter Change Note: After Factory Reset unit will switch to status 5 (P060 = 5) Drive Setting

P970 = 0

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1.3 Drive Setting with Siemens Motor


Select Drive Settings

P060 = 5

P071 = ?

Enter Input Line Voltage (VDC for DC Supply and


r.m.s. VAC for AC Supply)

eg. 620 VDC Unit (for 460 VAC Rectifier) eg. 460 VAC

P095 = ?
P095 = 1 2

Select Motor Type 1: 1FT6/1FK6 Servo-Motor 2: 1PA6/1PH7/1PL6 Induction-Motor Input Code number for 1FT6/1FK6 motor (See List) Input Code number for 1PA6/1PH7/1PL6 motor (See List) Load pre-set motor Data
Current is listed on Motor Input Maximum Motor Rated Current may be increased Nameplate. Output Current(A) if the duty cycle is not continuous to account for required current inrush of dynamic servo motion.

P096 = ? P097 = ? P115 = 1 P128 = ?

Select Motor Encoder


Motor Order th Code n Digit: 1FT6/1FK6 1PL7/1PH7/1PL6/1PH4 th th n = 14 n=9
T A E N/A R N M E H/J

P130 = ?

1: 2-Pole Resolver 3: Encoder (Sin/Cos) ERN 1381 ERN 1387 4.Multiturn Encoder Absolute EQN 1325 5. Pulse Encoder in Slot C

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P290 = 0
P290 = 0 & 1FT6/1FK6 P290 = 0 & 1PH7=1PA6/1PL6/1PA4

Select Type of Current Control 0: Closed-Loop Current Control

P293 = ?

Input Field Weakening Frequency in Hz (Calculated w/ Self Tune P115) Select Flux Control 0: Closed-Loop, Flux Control Active 1: Open-Loop, Flux Control Not Active Select Controller Dynamics 0: Highest Dynamics

P294 = ?

P296 = 1

1: Average Dynamics
2: Lowest Dynamics Input Reference Value for Speed Variables in rpm. (Normalization Value for Speed) eg: P353 = 6000 rpm Input Maximum Speed Positive Direction (P452) and Negative Direction (P453) in %. (Referenced to P353) eg. P452 = 100%

P353 = ?

P452.1 4 = ? P453.1 4 = ?

P060 = 1 Complete. For Detailed Parameterization See Compendium Section 6.

Select Drive Parameter Menu

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Lists of stored motors - Synchronous Motors


1FK6 / 1FT6
Input in P096 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 Motor order number (MPRD) 1FK6032-6AK7 1FK6040-6AK7 1FK6042-6AF7 1FK6060-6AF7 1FK6063-6AF7 1FK6080-6AF7 1FK6083-6AF7 1FK6100-8AF7 1FK6101-8AF7 1FK6103-8AF7 1FT6031-4AK7_ 1FT6034-1AK7_-3A 1FT6034-4AK7_ 1FT6041-4AF7_ 1FT6041-4AK7_ 1FT6044-1AF7_-3A 1FT6044-4AF7_ 1FT6044-4AK7_ 1FT6061-6AC7_ 1FT6061-1AF7_-3A 1FT6061-6AF7_ 1FT6061-6AH7_ 1FT6061-6AK7_ 1FT6062-6AC7_ 1FT6062-1AF7_-3A 1FT6062-6AF7_ 1FT6062-6AH7_ 1FT6062-6AK7_ 1FT6064-6AC7_ 1FT6064-1AF7_-3A 1FT6064-6AF7_ 1FT6064-6AH7_ 1FT6064-6AK7_ 1FT6081-8AC7_ 1FT6081-8AF7_ 1FT6081-8AH7_ 1FT6081-8AK7_ 1FT6082-8AC7_ 1FT6082-1AF7_-1A 1FT6082-8AF7_ 1FT6082-8AH7_ 1FT6082-8AK7_ 1FT6084-8AC7_ 1FT6084-1AF7_-1A 1FT6084-8AF7_ 1FT6084-8AH7_ 1FT6084-8AK7_ 1FT6084-8SC7_ 1FT6084-8SF7_ 1FT6084-8SH7_ 1FT6084-8SK7_ 1FT6086-8AC7_ 1FT6086-1AF7_-1A 1FT6086-8AF7_ Speed n n [rpm] 6000 6000 3000 3000 3000 3000 3000 3000 3000 3000 6000 6000 3000 6000 3000 6000 2000 3000 4500 6000 2000 3000 4500 6000 2000 3000 4500 6000 2000 3000 4500 6000 2000 3000 4500 6000 2000 3000 4500 6000 2000 3000 4500 6000 2000 3000 Torque M n [Nm] 0.8 0.8 2.6 4.0 6.0 6.8 10.5 12.0 15.5 16.5 0.75 1.4 2.15 1.7 4.3 3.0 3.7 3.5 2.9 2.1 5.2 4.6 3.6 2.1 8.0 7.0 4.8 2.1 7.5 6.9 5.8 4.6 11.4 10.3 8.5 5.5 16.9 14.7 10.5 6.5 23.5 22.0 20.0 17.0 23.0 18.5 Current I n [A] 1.5 1.8 2.4 3.1 4.9 5.3 7.8 9.0 10.8 11.6 1.2 2.1 1.7 2.4 2.9 4.1 1.9 2.6 3.4 3.1 2.6 3.4 3.9 3.2 3.8 4.9 5.5 3.5 4.1 5.6 7.3 7.7 6.6 8.7 11.0 9.1 8.3 11.0 12.5 9.2 12.5 17.0 24.5 25.5 10.9 13.0

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Input in P096 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81

Motor order number (MPRD) 1FT6086-8AH7_ 1FT6086-8SC7_ 1FT6086-8SF7_ 1FT6086-8SH7_ 1FT6086-8SK7_ 1FT6102-8AB7_ 1FT6102-1AC7_-1A 1FT6102-8AC7_ 1FT6102-8AF7_ 1FT6102-8AH7_ 1FT6105-8AB7_ 1FT6105-1AC7_-1A 1FT6105-8AC7_ 1FT6105-8AF7_ 1FT6105-8SB7_ 1FT6105-8SC7_ 1FT6105-8SF7_ 1FT6108-8AB7_ 1FT6108-8AC7_ 1FT6108-8SB7_ 1FT6108-8SC7_ 1FT6132-6AB7_ 1FT6132-6AC7_ 1FT6132-6AF7_ 1FT6132-6SB7_ 1FT6132-6SC7_ 1FT6132-6SF7_ 1FT6134-6AB7_ 1FT6134-6AC7_ 1FT6134-6SB7_ 1FT6134-6SC7_ 1FT6134-6SF7_ 1FT6136-6AB7_ 1FT6136-6AC7_ 1FT6136-6SB7_ 1FT6136-6SC7_ 1FT6108-8SF7_

Speed n n [rpm] 4500 2000 3000 4500 6000 1500 2000 3000 4500 1500 2000 3000 1500 2000 3000 1500 2000 1500 2000 1500 2000 3000 1500 2000 3000 1500 2000 1500 2000 3000 1500 2000 1500 2000 3000

Torque M n [Nm] 12.0 33.0 31.0 27.0 22.0 24.5 23.0 19.5 12.0 42.0 38.0 31.0 57.0 55.0 49.0 61.0 55.0 83.0 80.0 62.0 55.0 36.0 100.0 98.0 90.0 75.0 65.0 130.0 125.0 110.0 88.0 74.0 160.0 150.0 70.0

Current I n [A] 12.6 17.5 24.5 31.5 29.0 8.4 11.0 13.2 12.0 14.5 17.6 22.5 21.5 28.0 35.0 20.5 24.5 31.0 39.0 19.0 23.0 23.0 36.0 46.0 62.0 24.0 27.0 45.0 57.0 72.0 27.0 30.0 55.0 72.0 53.0

Motor list 1FK6 / 1FT6

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Lists of stored motors Asynchronous Motors Note 1PA6 - 4 = 1PH7 - 2


1PA6 / 1PL6
Input in P097 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 Motor order number (MPRD) 1PA6101-4_F 1PA6103-4_D 1PA6103-4_F 1PA6103-4_G 1PA6105-4_F 1PA6107-4_D 1PA6107-4_F 1PA6131-4_F 1PA6133-4_D 1PA6133-4_F 1PA6133-4_G 1PA6135-4_F 1PA6137-4_D 1PA6137-4_F 1PA6137-4_G 1PA6163-4_B 1PA6163-4_D 1PA6163-4_F 1PA6163-4_G 1PA6163-4_B 1PA6167-4_D 1PA6167-4_F 1PA6184-4_B 1PA6184-4_D 1PA6184-4_F 1PA6184-4_L 1PA6186-4_B 1PA6186-4_D 1PA6186-4_F 1PA6186-4_L 1PA6224-4_B 1PA6224-4_D 1PA6224-4_F 1PA6224-4_L 1PA6226-4_B 1PA6226-4_D 1PA6226-4_F 1PA6226-4_L 1PA6228-4_B 1PA6228-4_D 1PA6228-4_F 1PA6228-4_L 1PL6184-4_B 1PL6184-4_D 1PL6184-4_F Rated speed n n [rpm] 1750 1150 1750 2300 1750 1150 1750 1750 1150 1750 2300 1750 1150 1750 2300 400 1150 1750 2300 400 1150 1750 400 1150 1750 2900 400 1150 1750 2900 400 1150 1750 2900 400 1150 1750 2900 400 1150 1750 2900 400 1150 1750 Pole pair number Zp 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 Current I n [A] 9.0 9.6 12.7 15.4 16.2 16.0 20.1 23.7 27.5 33.1 42.3 40.0 40.6 53.0 53.9 28.2 52.1 69.0 78.5 35.6 66.4 75.2 51.0 89.0 122.0 158.0 68.0 116.0 168.0 205.0 89.0 2 162.0 205.0 275.0 116.0 200.0 255.0 350.0 138.0 240.0 350.0 405.0 69.0 121.0 166.0 Voltage Torque U n [V] M n [Nm] 398 390 398 398 398 381 398 398 381 398 398 398 367 357 398 274 364 364 398 294 357 398 271 383 388 395 268 390 385 395 68 385 395 395 264 390 395 390 272 390 395 395 300 400 400 24 36 34 31 44 60 57 71 112 96 93 117 162 136 127 227 208 185 158 310 257 224 390 366 325 265 506 485 465 333 725 670 605 490 935 870 737 610 1145 1070 945 710 585 540 486 Frequency f n [Hz] 60.3 40.6 60.9 78.9 60.3 40.3 60.4 59.7 39.7 59.7 78.0 59.5 39.6 59.5 77.8 14.3 39.2 59.2 77.3 14.3 39.1 59.2 14.2 39.2 59.0 97.4 14.0 39.1 59.0 97.3 14.0 38.9 58.9 97.3 14.0 38.9 58.9 97.2 13.9 38.9 58.8 97.2 14.4 39.4 59.3

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Lists of stored motors Asynchronous Motors


1PA6 / 1PL6
Input in P097 Motor order number (MPRD) 46 1PL6184-4_L 47 1PL6186-4_B 48 1PL6186-4_D 49 1PL6186-4_F 50 1PL6186-4_L 51 1PL6224-4_B 52 1PL6224-4_D 53 1PL6224-4_F 54 1PL6224-4_L 55 1PL6226-4_B 56 1PL6226-4_D 57 1PL6226-4_F 58 1PL6226-4_L 59 1PL6228-4_B 60 1PL6228-4_D 61 1PL6228-4_F 62 1PL6228-4_L Motor list 1PA6 / 1PL6 Rated speed n n [rpm] 2900 400 1150 1750 2900 400 1150 1750 2900 400 1150 1750 2900 400 1150 1750 2900 Pole pair number Zp 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 Current I n [A] 209.0 90.0 158.0 231.0 284.0 117.0 218.0 292.0 365.0 145.0 275.0 355.0 485.0 181.0 334.0 473.0 534.0 Voltage Torque U n [V] M n [Nm] 400 290 400 400 390 300 400 400 400 305 400 400 395 305 400 400 400 372 752 706 682 494 1074 997 900 675 1361 1287 1091 889 1719 1578 1448 988 Frequency f n [Hz] 97.6 14.3 39.4 59.3 97.5 14.2 39.1 59.2 97.5 14.0 39.2 59.1 97.4 14.0 39.2 59.0 97.3

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1.4 Drive Control Word


Function Diagrams will be referred to in brackets with their number. Please refer to function diagrams in the compendium. Example [Diagram Number]
Function Diagram [90]

Assign Digital Inputs

Digital Inputs/Outputs: Binector Assignments for Control may be made from Digital Inputs

Function Diagram [180]

Assign Off2(Coast Stop) Assign Off3(Quick Stop) Assign ON/OFF1

P555, P556 & P557 can be used to assign Coast to Stop P558, P559 & P560 can be used to assign Quick Stop P554 MUST be assigned to activate drive. Note: Acceleration and Deceleration will be based on ramp generator [320]

[180] Assign Other Functionality as Required


Function Diagram [190]

See [190] Assign Other Control Functionality as Required

Note:

OFF3 is different as compared to the VC drive, it is not a fast ramp, but rather a stop with maximum torque from the inverter (only limited by current limit)!

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1.5 Tuning Drive and Current Loop P060 = 5


Select Drive Settings

P115 = 1

Drive will Calculate Parameters based on Motor selected above and P115 returns to 0.

P060 = 1

Select Parameter Menu

Function Diagram [180]

P554 = Binector

Assign Drive Control Word On. A Digital Input can be used. eg: P554 = 20(Digital Input 6) Select Current Loop Tune from PMU. Note: Motor Shaft can move. All OFF commands are valid. Turn drive on when the PMU displays A078.
Motor will make a sound for approximately 2 -20 seconds.

P115 = 2

Fault occurs if not turned on within 20s

When PMU displays A078 switch Drive on.

Auto-Tune Complete

When Auto-Tune is complete o Drive will be in State 008. Turn Onswitch low and Drive o will return to State 009,Drive Ready.

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1.6 Communication Board Configuration P060 = 4 CBx Inserted? YES


NO

Select Board Configuration Menu Parameterize CBx Boards See Function Diagrams

P711 = ? to P721.1 5 = ?

SLB Inserted? YES


NO

Simolink Address 0: Dispatcher (Master) >0: Transceiver (Slave) SLB Telegram Failure Time SLB Transmit Power 1: Up to 15 m 2: Up to 25 m 3: Up to 40 m P743=0, Automatic number of
node evaluation.

P740 = ? P741 = ? P742 = ?


P740 =1 P740 = 0

P743 = 0 P745 = ? P746 = ? P749.1 8 = ?

Enter Number of Channels Enter Simolink Cycle Time(must


correspond to pulse frequency, i.e. =3.2)

Simolink Receive Address = Node. Channel

CBP Inserted?
NO

YES

P918.1 2 = ?

Input CBP Bus Addresses Return to Parameter Menu

P060 = 1

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Section 2: Servo Drive Tuning Procedure SIMOVERT MASTERDRIVES 6SE70 MC Motion Control

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Servo Drive Tuning Procedure Section 2 Table of Contents:


2.1 Drive Tuning Considerations and Overview 2.2 Configuring Drive 2.3 Configuring Drive For Speed Controller Tuning 2.4 Set Speed Controller Proportional Gain (Kp) 2.5 Set Speed Controller Integral Gain (Tn) 2.6 Set Position Controller Proportional Gain

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This Diagram illustrates the Signal and Logic Flow in the 6SE70 MC. Refer to section 3.6 for more details.

MC Signal Flow and Logic Flow:


Signal Flow
Encoder [330] Evaluation [815] Mode Manager [802] Mode Manager Control Word 1 ON / OFF [180] Position Control Signals [809] [802]

Logic Flow
Feed Forward MD49

Output Signals [817]

Position Controller [340]

Speed Controller [360] Torque Controller [370]

Setup Mode [819] Rough Pulse [813] Machine Data [804] Homing Mode [821] MDI Mode[823] Current Controller [390]

M
Control Mode [825] Virtual Master [832] Sync - Big Picture [831] Sync Input [834] Gearbox / Cam [835] Position Setpoint Generation [836]

Cam Profile [839]

Sync. Displace [841] Sync. Catch-up [837] Position Correction [843]

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2.1 Drive Tuning Considerations and Overview


Always tune speed- and position controller with physical system connected to motor. Speed Loop Tuning Typically the minimum production speed of the application should be used to start optimization. Observe the torque and the current limit to reduce steps at high gains. e.g. 10% base speed(minimum production speed) with a 0.5% step jump. Observe the actual speed by setting the analog output P640 to KK151. The analog output is multiplied by a factor of five (P643 = 50) and it is also OFFSET by 5 V (P644 = -5). This is necessary to see the small 0.5% jumps in the system speed. Step One: Set integration to a large number in order to eliminate it effects s (P240 >= 250ms). Observe jumps while increasing Proportional Gain (P235). (Proportional Gain will be mostly in the range of 50 to 200). The goal is to attain a rapid jump that is still stable. Note: Observe the current controller to not run into current limits while optimizing. Step Two: Gradually decrease the integration time (P240) to achieve a 30% to 40% overshoot and a nearly critical damping of the actually speed system.

Speed controller to slow Speed controller to fast Speed controller perfect P235 to small P240 to small, P235 to large

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Notes:
While tuning the speed controller, make sure the torque step does not reach the limits of torque or current (a step of 0.5% causes a 100% torque step when gain is 200). For high gains the step should be smaller e.g. 0.1%. Check controller setting at minimum speed and maximum speed and watch behavior during ramp up, ramp down and fast stop. Set the integral part of speed controller (P240 [360]) to maximum(1000) to eliminate the influence of it. Increase the proportional gain for fast response without overshoot. Increase smoothing if necessary to increase proportional gain. Reduce the step if the proportional gain is higher than 100 ( step * gain = torque-step). Decrease the integral part to reach a 43% overshoot in step response. The theoretical value is Tn = 4 * (2ms + Tgl); Tgl is the smoothing time of the actual speed value ( if no smoothing is used Tn can be 7 to 8 ms). In multi-drive applications the smoothing factor must be equal for all the drives which have to perform together in order to get the same response from every drive. Also, the smoothing of the setpoint must be the same as the smoothing of the actual value. If no smoothing of the actual value is used( P223 = 0), then the smoothing factor of the speed controller setpoint should be 0.5ms to 0.8ms. Because of different calculation cycles between the position controller and the speed controller, setpoint smoothing is required to produce a smoother torque setpoint.

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Because of mechanical instability and thief belts the actual speed may look as follows:

Speed controller acceptable

Speed controller P235 to high

Run the system using a ramp generator up to full system speed and observe the current setpoint. There will be some oscillations in the current and speed while running at full speed. These oscillations may dampen out with a load applied to the system. If the oscillations do not dampen out with a load applied the proportional gain of the speed controller may need to be reduced. Also, spikes in the current at a fixed frequency for a synchronous machine may indicate a mechanical problem in the machine itself. Note: Optimization should be carried out such that Proportional Gain maintains a proportional relationship with the inertia of the system throughout the load cycle. In other words, if the inertia of the system varies the Proportional Gain should be adapted to this varying inertia so that proportional relationship between the two is maintained ( i.e. Adaptive Gain [360]). Position Loop Tuning Setup a LU system and ActWtF (IBF) factor for the drive. Add steps to the actual position to achieve a setpoint step. The step response should be without overshoot. The position controller should work with proportional gains only! Important: P205 [340]has to be set up properly according to the LU-system. You can change the LU-system later without changing P204 [340]. Only parameter P205 has to be changed to maintain the same behavior of the position loop. The precontrol/Feed Forward of the speed controller should be 100% for stiff control with rotational applications(not linear) and Synchronization. The position controller can be limited with P207[340]. It is important to limit the speed controller input signal if it is to be used without ramps. Many Synchronous systems will require the position controller to be limited. (2 5%)

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Observe either the actual speed or the actual position. Both of these can be observed while adjusting the position controller gain, P204[340].

Ideal Speed Ramp Response

Speed Ramp with Overshoot

Realistic Speed

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2.2 Configuring Drive


Quick Parameterization: Default Procedure (Section 1.2, page 7) Quick Parameterization: Drive Settings with Siemens Motor (Section 1.3, page 8)

Default Drive

Motor and Drive Settings

Setup Control Word

Quick Parameterization: Drive Control Word (Section 1.4, page 14)

Tune Current Loop

Quick Parameterization Guide: Tuning Drive and Current Loop (Section 1.5, page 15)

Define LU System

Technology Options Quick Setup Method: Establishing LU System (Section 3.5, page 39) Proceed to next section

2.3 Configuring Drive For Speed Controller Tuning

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2.3 Configuring Drive For Speed Controller Tuning


Function Diagram [290]

P401 = 10% P402 = .5%

Main Setpoint = 10% Jump = .5% (Set Main Ref Ramp times as needed [320] P462, P464)

Function Diagram [750]

U177.02 = KK0042 U176 = 18(DIN5) U950.86 = 4

Select Analog Switch to Jump with. Assign Switch to Input Activate Switch

Function Diagram [360] Function Diagram [310]

P224 = KK0526 P443 = KK0041

Assign Switch Output to Jump Speed after ramp Assign Main Setpoint

Function Diagram [80]

P640 = KK0151 P643 = 150 P644 = -10

Set Analog Output to Actual Speed Setpoint Scale Output X15 to show small jump Shift Output down

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2.4 Set Speed Controller Proportional Gain (Kp)


Function Diagram [360]

Attach Oscilloscope Scale Scope


Observe Step Response

Analog Output Terminals X101 11 &12 Typically 5mV, 100ms and DC Offset Start with On command assigned previously This eliminates the effects of Controller Integration. Attain highest possible values (50 to 200) and ideal speed jump. There should be NO overshoot when using proportional gain only! This will reduce Motor Noise, however it will slow system reponse down. ( Typical value: 1 to 5)

Set P240 = 1000 Adjust P235 Proportional Gain

Smooth Feedback P223 Only if Necessary!

Ideal Step Response

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2.5 Set Speed Controller Integral Gain (Tn)


Function Diagram [80]

P640 = KK168 P643 = 10 P644 = 0 Scale Scope

Observe Current Setpoint at analog output No Scaling

No Offset

Function Diagram [360]

Observe Step Response of Current Setpoint Adjust Kp (P235) and smoothing (P223) to limit excessive oscillation

Start with On command assigned previously

Only for Excessive Oscillation! You are looking for a sharp current spike and stable settling. Look for signal to jump then settle, ignore normal current oscilation. Set at the point where you see no effect if you increase P240.
Theoretical: Tn= 4 *(2ms + Tgl) = P240 Tgl = P223 Actual speed smoothing with no smoothing, Tn can be as small as 7 to 8 ms.

Adjust P240 (Tn)

Ideal Current Step Response

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Observe Step Response of Speed Controller


Observe at 0%, 10%, 50% & 100% and look for oscilations. Reduce P235 to fix this as needed.

Observe the speed controller step response as above. Theoretically an Ideal overshoot should be 43%. P240 [360] should be reduced to acheive the desired overshoot.

Speed controller acceptable

Speed controller P235 to high

Realistic Speed Controller Step Response

Proceed to Position Controller Tuning in Section 2.6


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Ideal Speed Controller Step Response and Current Step Response Plotted with SIMOVIS Trace Function.

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2.6 Set Position Controller Proportional Gain Cycle Control Power


Function Diagram [340]

P206 = 0 P210 = 1 P207 = 5%

Set Position Loop Integral Gain Release Position Controller

Limit Output of Position Controller Because of different calculation cycles between the position controller and the speed controller, setpoint smoothing is required to produce a smoother torque setpoint.

If P223 = 0, Then P221 = 0.5 to 0.8ms


Function Diagram [340]

P190 = KK415 U015 = r201 + (10 degree step in LU)

Position Controller Setpoint will come from U2015 Set Position Controller Setpoint to current position plus a 10 degree step. (eg: U015 = 100) Set Analog output to Speed Controller Output Scale Analog output / No Offset

Function Diagram [80]

P640 = KK151 P643/P644 = 150/0

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Scale Scope
Function Diagram [340]

Step the Axis by ten degrees (Turn drive on)

Set U015 to add an additional 10 degree step. Observe the step on the oscilloscope.

Function Diagram [340]

Adjust P204 Range .1 to 1+ For a Good Step

Position loop proportional gain. If values of P204 are too great the system will oscillate and become unstable.

Ideal Speed Ramp Response

Speed Ramp with Overshoot

Realistic Speed

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Realistic Speed Controller Step Response and Current Controller Response

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Unstable Speed Controller Step Response and Current Controller Response

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After P204 is Optimized Set P206 = 250 Record values: P120-P125,235, 240, 223, 204, 207, 206

Set a very long integration time to cancel out residual error which may occur over time. Basic Speed Controller and Position Controller Tuning Complete. Proceed to Technology Tuning

Note: When integration time is enabled, check to make sure that no overshoot occurs. If speed controller pre-control is properly adjusted the integration time can actually be left off (P206=0 [340]).

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Technology Additional Tuning Set MD49


Run the drive through technology to find the ideal Feed Forward value (MD49). Remember that Machine Data values must be activated at U502. Rotary systems should have a pre-control/ Feed Foward of 100%. For Linear systems start with at least 50% pre-control/ Feed Forward.

Run the system up to 100% speed If the system will not operate at 100% speed these parameters may need to be re-optimized or decreased.

Verify speed controller and position controller gain

Tuning Procedure completed

Remember that the Feed Forward will provide the setpoint for the Speed Controller velocity and the Position Controller can have a relatively small gain because it is only closing the loop to eliminate error. Individual systems will require different values for Feed Forward.

Note:

U502 is not needed if Synchronization is used like a free function block.

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Section 3: Technology Options Quick Setup Method SIMOVERT MASTERDRIVES 6SE70 MC Motion Control

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MASTERDRIVE MOTION CONTROL: TECHNOLOGY OPTIONS QUICK SETUP METHOD


Typical changes to Parameters needed for using Technology Options. Intended to be used with function diagrams listed in [ ] . Purpose: The purpose of this document is to lead the user through a typical setup of the Technology options for a MASTERDRIVE Motion Controller. Follow through each of the steps, with the stated function diagrams, and apply them to your individual setup. These steps will lead you through general technology activation without the use of a download file. The Control flow sequenceand the Activation & Settingsections illustrate the setup required for use with the Operating Mode Manager. The individual setup of the drive control and IO is left to the user. This should be used as a checklist for connecting drive functions and performing required definitions.

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Technology Options Quick Setup Method Section 3 Table of Contents:


3.1 Default Drive 3.2 Set Motor Data 3.3 Verify Technology Activation 3.4 Choose Operating Mode Manager 3.5 Establishing Length Unit System 3.6 Control Flow Sequence 3.7 Activation and Settings 3.8 Verify and Define Common Machine Data 3.9 Homing Procedure Checklist 3.10 MDI Operation Checklist 3.11 Synchronism Method 3.12 Operation Signal Assertion

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3.1

Default Drive Quick Startup Guide Section 1.2

3.2

Set Motor Data Quick Startup Guide Section 1.3

3.3

Verify F01 Technology Activation If n978 = 1 technology is activated. If n978 = 0 see [850].

[850]

3.4

Choosing Operating Mode Manager

[802]

Operating Mode Manager


U953.32 = 4 activate Manager U953.33 = 20 inactive sync free function

Operating Mode Manager allows the user to change between modes of operation including:
0: 1: 2: 3: 4: 5: 6: 11: Operation No Operation Set Up Homing MDI Control Automatic Positioning Automatic Single Block Synchronous

B.

Sync. Mode Operation As Free Function


U953.32 = 20 inactive Manager U953.33 = 4 activate Sync

As an alternative the Synchronous Mode of operation may be exclusively selected. The Operating Mode Manager takes up processor time when activated. If only the Sync Mode is going to be used then this section may be activated on it s own.

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3.5

Establish Length Unit System


LU represents Length Unit. The terminology of Length Units is used to define units of measurement that the drive will count when turning the motor. The user will define distances that the drive moves in the measure of Length Units. Length Units provide flexibility because the user can define Linear or Rotary Axis systems to their needs.

Rotary System Define LU/Revolution Equivalent Example: If: 1LU = .1 degree Then: 3,600 LU/rev

Encoder Type Accuracy Resolver Pulse Encoder Sin/Cos Encoder ERN1381/1387

Resolution (inc/rev) 4096 (212) 4096 16777216 (224)

Achievable Positioning (Pulse/rev) 1024 1024 with a 1024 PPR encoder 105 to 106 105 to 106

Multiturn/Absolute 16777216 (224) Value Encoder EQN1325

Note: For any systems, which are vibration/position critical, a better feedback device should be used, such as a Sine/Cosine Encoder. In practice, the resolution of the encoder must be higher than the requested positioning accuracy by a factor of 4 to 10. The levels of achievable accuracy given above are only rough guidelines.

Determine Encoder Resolution: Set parameter P171 according to the encoder resolution. If resolution is 4096 ticks/rev: 4096 = 2 P171 = 12

[330.3] Depending on the type of feedback device which is used varying bit values of resolution are available for the drive to operate with. The number of bits that the drive will use as feedback is entered into P171.

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Set Actual Weighting Factor (ActWtF, or IBF)


IBF = (LU/rev) / (Encoder resolution ticks/ rev) IBF = (P169).(P170___eight digits) P169 equals the integer value P170 must equal an eight digit decimal number

The ActWtF (IBF) factor represents a weighting factor between the LU/revolution and the encoder resolution. The user defines both of these values. Calculation and Parameter limits may be reached if the user attempt to have values that are too large in both the LU/revolution and Encoder Resolution that is utilized. The IBF Factor should be less than or equal to 1 if possible. If the IBF factor is greater than 1 the drive will be attempting to count LU to s accuracy greater than the feedback device is generating.

ie: If:

Good Example 3600 LU/rev and 4096 counts/rev then: ActWtf or IBF = .87890625 P169 = 0 P170 = 87890625 ie: If: Bad Example 36,000 LU/rev and 4096 counts/rev then: ActWtf or IBF = 8.7890625 P169 = 8 P170 = 7890625

Set the Rated Speed for Position Control (1000 LU/min)


P205 = (P353, rpm) x (LU/rev) 1000 ie: If: Good Example Max Speed = 6000 rpm and 3,600 LU/rev Then: P205 = 21,600

[340.3]

P205 is used to define the speed for position control resulting at 100% speed (actual value). Note: P205 is limited to 10,000,000 with version 1.3 software. Parameter limits may effect the user ability to utilize the full s resolution of the encoder and quantity of Length Units.

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3.6

Control Flow Sequence


Follow the Signal and Logic Flow through these function diagrams.

MC Signal Flow and Logic Flow:


Signal Flow
Encoder [330] Evaluation [815] Mode Manager [802] Mode Manager Control Word 1 ON / OFF [180] Position Control Signals [809] [802]

Logic Flow
Feed Forward MD49

Output Signals [817]

Position Controller [340]

Speed Controller [360] Torque Controller [370]

Setup Mode [819] Rough Pulse [813] Machine Data [804] Homing Mode [821] MDI Mode[823] Current Controller [390]

M
Control Mode [825] Virtual Master [832] Sync - Big Picture [831] Sync Input [834] Gearbox / Cam [835] Position Setpoint Generation [836]

Cam Profile [839]

Sync. Displace [841] Sync. Catch-up [837] Position Correction [843]

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Function Diagram: [809] Position Control Signals

Description: This block is used as a control word for the Technology (F01). Modes of operation and control signals are assigned at this point. Operating Mode Manager allows the user to change between modes of operation including: 0: No Operation 1: Set Up 2: Homing 3: MDI 4: Control 5: Automatic Positioning 6: Automatic Single Block 11: Synchronous Operation Set-up Mode is used for position controlled inching. Set-up Mode takes into account software limits for position. Homing Mode is used to approach a predefined position. This position is used to define the reference system for the Axis. An external signal (BERO signal), such as a proximity switch, will indicate when the Axis is in place. MDI mode is used for point to point positioning. MDI defines the acceleration, speed and position for a movement of the axis. Control Mode is used for position controlled inching. Control Mode is similar to Set-up Mode but it does NOT take into account software limits for position.

[802] Operating Mode Manager

[819] Setup Mode

[821] Homing Mode

[823] MDI Positioning Mode

[825] Control Mode

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Function Diagram: [831] Synchronism Mode (overview)

Description: Synchronism Mode is used for the synchronization of several axis s. Functions such as Virtual Master, Engaging/Disengaging, Gear Ratio, Cam Table and Position Correction are incorporated into the synchronization functionality of the Technology (F01). The Virtual Master is used as a reference for each axis to follow. The advantage of a Virtual Master verses a Real Master is a disturbance free system. The Virtual Master is given speed reference, initial position, reset signals and start/stop signals.

[832] Synchronism Virtual Master

[834] Synchronism Input and Engaging / Disengaging

The Master Axis Signal is assigned here. Engaging and Disengaging represent a clutching function that allows the Axis to match the master and be ramped on and off. The Gearbox can be used to define a ratio between the Master Axis and the following Axis. Position Setpoint and Speed PreControl signals are generated after signal has gone passed through Technology Options. This function can be used to accelerate the drive to the speed of a running machine.

[835] Synchronism Gearbox and Cam Table

[836] Position Setpoint Generation

[837] Synchronism Catch-up function

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Function Diagram: [839] Synchronism Cam Table

Description: The Cam Table can be used as a mapping function between the Master Axis and a following Axis. Profiles are loaded into the table and the following axis can be set to follow irregular motion profiles. Used to Displace Angle Absolute, Relative or to match Master. Used to correct for position errors by comparing actual position to a reference position.

[841] Angular Sync & Displacement

[843] Position Correction

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3.7

Activation & Settings

This section outlines the drive activation and settings that must be done in order to configure the drive for Technology Control. Refer to the Function Diagrams in [#] while defining the required signals.

Position Control Signals Activate Block Mode Selection Address

[809] U953.30 = 4 U710.29 U710.30 U710.31 U710.32 U710.28 U710.03

Jog Forward, DIN select Start, DIN select

Example: U710.29=10 Indexes 29 to 32 U710.30=12 U710.32=14 are used to define U710.28=18 the Mode of U710.3= 18 Operation Digital Inputs to switch modes *Can tie Start and start to Jog functions Example: P554 = 20 Digital In 6

Define ON/OFF in Control word P554 = DIN? [180] Make sure OFF123 are enabled

Link Speed Controller input to Position Controller Output. P220 = KK131

[360] [340]

Link Position Value & Measured parameters U535 = 120 U539 = 122

[815.3] [330]

Define Position Sensing Parameters P172 = 302 P174 = 301 P184 = 303

[330] [815]

Assign Rough Pulse See Section 3.8 (below) Optimize Position Controller

P178 = DIN [330] MD45 (U501.45) [813] U536.1 6 = DIN P204.001 = (<2) (adjust when working) P210 = 1 P211 = 1 [340]

Example: P178 = 16 U501.45=70 00 U502 = 2

Example: P204 = 1

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3.8

Verify and Define Common Machine Data


Units

[821]

U501.0MD# MD# Description MD3 MD4 MD6 MD7 MD10 MD11 MD14 MD15 MD16 MD17 MD18 MD19 MD23 Home Position Coordinate Home Displacement Home Reduced Speed Home Approach Speed Encoder Offset Rotary/Linear Axis

Post Stop (LU) LU 1000 LU/min 1000 LU/min LU Rotary = # LU/rev & Linear = 0 LU LU ms LU 1000LU/s 1000LU/s 1000LU/min ms ms 0 100 %

Follow Error monitoring @ standstill Follow Error monitoring in motion In Position Timer monitoring In Position Exact Stop Window Home Accel displacement search Home Decel displacement search Max Speed

MD41 Home Accel Time-Homing MD42 MD49 MD45 Home Decel Time-Homing Speed Pre-Controller

[813] 10 10 10 1010 10 E6 E5 E4 E3 E2 E1 Function: 0 = NO Function 1 = Start and Operate 2 = Start OR Operate 3 = Position Feedback Set on Fly (Automatic Mode) 4 = External Block Change (Automatic Mode) 5 = In Process Measure 6 = Collision (Automatic Mode) * 7 = Prox Switch for Reference [821.4] 9 = Read in enable U536.01 (0) E1 U536.05 (18) E5 .02 (0) E2 .06 (20) E6 .03 (0) E3 example, U501.45 = 7000, Prox signal set to switch .04 (16) E4 defined in fourth index of U536

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Typical Changes to Demo Unit Machine Data - Check Values for your Application U501.11 = 36,000 LU/rev U501.14 = 2750 U501.17 = 2200 U501.23 = 216,000 U501.45 = 7000 Guidelines from the MC Manual: MD23 = Max Traversing Velocity (1000LU / min) MD14 >= 5 * (Actual Following Error at Standstill (LU) ) Note: MD14 & MD17 may have to be higher than suggested values depending on the individual system. MD15 >= 1.5 * MD23 / Kv (P204) MD16 ~ 500 to 2000 ms MD17 < MD14 MD18/MD19 = If unsatisfied with default accel / decel, then calculate based on MD23 max speed and the desired acceleration time. Changes to Machine Data Must be Manually Activated (U502 = 2) U502 = 0 1 2 Ok Change Occurred Activate Change

3.9

Homing Procedure Checklist


U502 U710 / [809] Control Word [180] U710 / [809] P178 / U536 / MD45

Set & Activate required Machine Data (above) Set Control Signals / Mode Start Enable / OFF 123 Enable Jog Forward Defined Prox Signal Defined

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3.10 Manual Data Input (MDI) Checklist


See [823] Define MDI Data Sets 0 9 in terms of required motion Acceleration Speed and Position: G (Accel Function) Position X Speed U55X.001 X=0 9 Set Control Signals / Mode n540.14 = Mode In Display Select MDI Data Set via Bits 8 11 Example: If: Data Set 1 (X = 0) Then: U710.09 = 1 [809] [809] U55X.002 U55X.003

Set G (Acceleration) Functions U55X.001 90 = Absolute Position 91 = Relative Position

[823] 30 = 100% 31 = 10% 39 = 90%

Example: If: Relative Motion from current position and 100% Acceleration ramp Then: U55X.001 = 9130

Set Position Data U55X.002 (LU) Example: If: 3600 LU/rev and 90 degree turn required Then: U55X.002 = 900 LU

[823]

Set Speed Data U55X.003 (10 LU/min) Example: If: Speed = 100 rpm and 3600 LU/rev Then: ( (100 rev/min) X (3600 LU / rev) ) / 10 U55X.003 = 36,000

[823]

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3.11 Synchronism Method


A. B. C. D. A. Virtual Master Setup Simolink Setup Assign Sync Functions Cam Operations Virtual Master Setup U953.34 = 4 U681 = 11 (Analog Input) [832]

Activate Function Block Assign Setpoint Input Set rated speed U682 6000 rpm * (36,000 LU/rev) * (1/10) U682 = 21,600,000 Verify Control Signals U684.01 .02 .03

Reset Start/Stop Set to Initial Position

Set Ramp Acceleration U685 (1000LU / s) Set the Enable for Virtual Master U689 Set Integrator Axis Cycle Length U687 = LU/rev = 36,000

B.

Simolink Setup

[140]

Assign SLB Node Address P740 = 0 (Master) / 1 (Slave) Define: Signal Power # Nodes # Channels Assign Transmit on Master P751.01 = KK817 P751.02 = KK817

P742 P743 P745 [160] (Transmit High Word from Virtual Master) (Low Word) [150]

Assign Receive on all Drives P749.01 = Node Channel (e.g. = 0.0)

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C.

Assign Sync Functions

[834]

Leave U953.33 = 20 unless using explicitly 1. Assign Position Setpoint U600.01 = KK7031 (Connector from Simolink Word Channel 0) U606 = 0 2. Assign U601 = Rotary Axis Length = (36,000LU/rev) 3. Engaging / Disengaging Define Sync Op Mode P602 Set Accel + Decel Length = U610 (LU) Total Cycle Length = U611 (LU) Couple Position = U608 (LU) Enable Engaging / Disengaging U612 Define Clutching U656 4. Gear Box Definition Numerator: Denominator: 5. Select Operation: U603 1:1 Gear Cam 6. Verify Position Control Reference P190 = 310 Default [835] U604.1 U604.2 [834] [834]

[340.1]

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D.

Manual Cam Profile Setup

[839]

Note: Should use a download file to configure complex cam operations. Note: Table Parameters cannot be checked (Loaded) if the table, to be checked, is currently selected (U650). Table Configuration U615 =1 200 point table =2 Two 100 point tables U616 Y scale, X scale, continuous/stop, absolute/relative U620 U629 U630.1-50 / U631.1-50 U635.1-50 / U636.1-50

Cam Mode Table Width # Support Points X Axis Support Points Y Axis Support Points

Note: (If operating in a continuous mode, you may wish to have the first coordinate and the last coordinate the same, to avoid jumping motion) Define Starting Point Set Table Select Table Check Table to Load it. U618 U619 U650 U617.1 = 2 Check table 1 U617.2 = 2 Check table 2 If U617 = 0 then okay to proceed

[836] Selection of Cam

U603 = 2

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3.12 Operation Signal Assertion


(These signals must be seen by the drive)

Turning System On OFF1 = OFF2 = OFF3 = ECN = 1 (Profibus must see LB = 1) Jog Function Turning System On Mode = Setup = 1 Jog Forward or Jog Backward Home Function Turning System On Mode = Home = 2

Control word bits 31 to 28 [809] Bit 25 or 26

Control word bits 31 to 28 [809]

Machine Data must be programmed in drive Jog Forward or Jog Backward Rough Pulse must be assigned MDI Function Turning System On Mode = MDI = 3 MDI Program Select MDI program must be in drive Start Bit 25 or 26 P501.45, U536, P178

Control word bits 31 to 28 [809] Bits 15 to 8

Bit 2

Sync Function Turning System On Mode = Sync = 11

Control word bits 31 to 28 [809]

Virtual Master & Simolink must be setup Start Start/Enable Virtual Master Bit 2

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